JP2791478B2 - RIKEN robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a plurality of water polishing apparatuses configured to perform a water polishing operation on a work by bringing a polishing tool attached to a tip of an arm into contact with the work. This is related to a laboratory robot composed of laboratory units.

(Prior Art) The water laboratory work is a work of performing polishing while pouring water into a work. For example, as disclosed in Japanese Patent Application Laid-Open No. 58-64157, a water laboratory performs this work automatically. Robots are also known. This water laboratory robot performs a predetermined operation on an arm whose base end is supported by a support base, thereby causing a polishing tool attached to the distal end of the arm to abut against the work, thereby performing a water polishing operation on the work. In general, a plurality of water research units are configured to perform the above-mentioned operations, and the sharing of the polishing area for the work is generally set for each of the water research units.

(Problems to be Solved by the Invention) However, in the conventional RIKEN robot, the RIKEN units are arranged at predetermined intervals so that their support bases are arranged side by side, and each arm is centered on each support base. Are exercising up, down, left, and right respectively,
For this reason, it was necessary to avoid each arm from interfering with each other, and it was not possible to arrange a large number of water research units. And, when the number of water research units is reduced, the required polishing area per unit becomes large, so that the polishing time is long, and the distance between the water research units needs to be more than a predetermined amount. However, the required space for the RIKEN robot was large.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a water laboratory robot capable of shortening required polishing time and saving space.

(Means for Solving the Problems) In the water laboratory robot according to the present invention, the support bases of the respective water research units are provided at predetermined intervals in a direction perpendicular to the workpiece feed direction while being provided in a stacked manner. The above object is achieved by not displacing the arms of the respective water research units in the overlapping direction by a predetermined amount or more. That is, by making a predetermined movement of an arm whose base end is supported by a support base, a polishing tool attached to a tip end of the arm is brought into contact with a work to be sent in a predetermined direction, and a water lapping work for the work is performed. The work is composed of a plurality of water research units configured to perform the work while feeding the work, and the support base of each of the water research units is superposed at predetermined intervals in a direction orthogonal to the work feed direction. The base is supported by the support base such that the arm is movable only in a plane perpendicular to the stepping direction of the support base, and the polishing tool is supported by the arm. It is characterized in that it is provided so as to be movable within a predetermined range in the stacking direction of the base.

The above-mentioned "predetermined range" means a range in which the polishing tools of two adjacent water research units provided in a stacked manner do not interfere with each other.

The above-mentioned water laboratory robot may be configured to include control means for controlling the contact operation of the polishing tool with the workpiece in accordance with the position of the workpiece in the feed direction with respect to the polishing tool.

Further, in the above-mentioned water polishing robot, when the work has a step on the surface, the pressing means controls the pressing pressure of the polishing tool against the work until the polishing tool reaches the step position of the work as the control means. When the polishing tool reaches the step position, a tool that controls the contact position and approach speed of the polishing tool to the workpiece can be used.

(Operation) As shown in the above configuration, the support bases of the respective RIKEN units are provided in a stacked manner at predetermined intervals in a direction orthogonal to the workpiece feed direction, and the arm is provided with:
The base end is supported by the support base so as to be movable only in a plane perpendicular to the stacking direction of the support base, and the polishing tool is positioned within a predetermined range in the stacking direction of the support base with respect to the arm. Since it is provided so that it can be moved inside,
The size of the arm drive mechanism on the support base side can be reduced by a single operation of the arm, and the contact position and angle of contact of the polishing tool with the work are performed on the polishing tool side. A large number of RIKEN units can be arranged in a small space without causing interference between the arms.

(Effects of the Invention) Therefore, according to the present invention, since a large number of water research units can be disposed, the required polishing time can be reduced, and these can be disposed in a small space. As a result, the space saving of the RIKEN robot can be achieved.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a side view showing an embodiment of an automatic water research apparatus provided with a water research robot according to the present invention, and FIG. 2 is a view in the direction of arrow II in FIG.

As shown in FIG. 1, the automatic water research apparatus 2 performs a water research operation on a body 4 that is a work that has been subjected to intermediate coating.
This is a device for smoothing the surface and thereby ensuring sufficient quality of the overcoating to be performed thereafter, wherein the water research station mounted on the carriage 6 is moved at a predetermined speed in the direction of arrow A. A plurality of polishing tools 8 and 10 are brought into contact with the body 4 to be fed to perform a water polishing operation. This automatic water research apparatus 2 comprises two water research robots 12 and 14 arranged in series in the direction of movement of the bogie.
As shown in FIG. 2, each of the water research robots 12 and 14 includes six water research units 16 having a trumpet-shaped polishing tool 8 and two water research units 18 having a cylindrical polishing tool 10. Equipped. The above six RIKEN units 16 are
Are provided in the right and left pillar portions of the gate 20 formed so as to surround the workpiece 20 in a direction orthogonal to the workpiece feeding direction, in this case, three at equal intervals in the vertical direction. Are provided at predetermined intervals in the horizontal direction on the beam portion of the gate 20.

Another RIKEN robot 14 also has a RIKEN unit
The configuration is the same as that of the above-mentioned RIKEN robot 12, except that the mounting positions of the gates 16 and 18 to the gate 20 are shifted by half a pitch with respect to that of the RIKEN robot 12. By arranging the two water research robots 12 and 14 having the water research units 16 and 18 mounted at a half-pitch offset in this way, the polishing tool 8 can be moved in the cross-sectional direction of the vehicle body 4 in FIG. ,
Even if the vehicle 10 is not moved, the surface of the vehicle body can be completely polished by feeding the carriage 6.

FIG. 3 is a sectional view showing the water research unit 16 in detail.

The water research unit 16 has a shelf-shaped support base 22 fixed to the gate 20 in a direction perpendicular to the workpiece feed direction, in this case, vertically stacked at equal intervals, and a base end of the support base 22. An arm 24 is supported by the support base 22 so as to be rotatable in the horizontal direction, and the polishing tool 8 attached to the tip of the arm 24 is provided.

The support of the arm 24 to the support base 22 is performed via a direct drive motor 26, and by driving the direct drive motor 26, the arm 24 is moved in a plane orthogonal to the step stacking direction of the support base 22. Only in this case, that is, in this case, it is rotated only in the horizontal plane in the direction indicated by arrow B (horizontal direction). The arm 24 is supported at two points by a direct drive motor 26, whereby the vertical movement of the arm 24 is prohibited. However, each of the above supports is made via bearings,
This allows the arm 24 to rotate around its axis (direction C in the drawing). The arm 24 includes a harmonic drive mechanism 28 and an encoder
By driving a DC servo motor 32 provided with 30, it can be rotated via a timing belt 34.

The arm 24 is formed to be hollow as shown in the figure, and hollow shafts 36 and 38 concentric with the arm 24 are rotatably supported independently of each other. The hollow shaft 36 includes a harmonic drive mechanism 40 and an encoder.
42 is rotated via a timing belt 46 by the drive of a DC servo motor 44 provided with the hollow shaft 38.
Are rotated via a timing belt 52 by driving an induction servomotor 50 provided with an encoder 48.

The arm 24 has a gear case 24a integrally formed at the distal end thereof, and rotates the hollow shafts 36 and 38 to rotate the bevel gears 54a, 54b and 56a, 56b in the gear case 24a.
The transmission is made in the direction of an axis orthogonal to the axis of the arm 24 via. That is, the rotation of the hollow shaft 36 is transmitted to the tool head 58 rotatably supported by the gear case 24a, and the rotation of the hollow shaft 38 is transmitted to the shaft 60 that is concentric with the tool head 58. The shafts 60 rotate independently in the direction D in the figure. The rotation of the shaft 60
Further, the power is transmitted in the axial direction orthogonal to the axis of the shaft 60 via the bevel gears 62a and 62b in the tool head 58. That is, the ring 64 formed integrally with the bevel gear 62b and rotatably supported by the tool head 58 rotates with the rotation of the shaft 60, whereby the tool shaft 66 concentrically spline-connected to the ring 64. Rotates in the direction E in the figure to rotate the polishing tool 8 attached to one end of the tool shaft 66. Therefore, the polishing tool 8 is supported by the arm 24 via the tool head 58, and is provided so as to be movable within a predetermined range with respect to the arm 24 in the direction in which the support base 22 is superposed (vertical direction).

The polishing tool 8 is made of a cellulosic sponge containing abrasive grains reinforced with cotton fiber, and has a ring-shaped tip surface 8a.
Comes into contact with the vehicle body 4, but the polishing tool 8
When the tool abuts against the vehicle body 4 and receives a reaction force from the vehicle body 4, the tool shaft 66 is displaced in the axial direction with respect to the ring 64. Such a displacement is allowed by a spring 68 interposed between the other end of the tool shaft 66 and the tool head 58, and a shock near the spring 68 prevents a sudden displacement of the shaft 66. A potentiometer 70 having a function as an absorber is provided to detect a reaction force from the vehicle body 4 (that is, a pressing pressure of the polishing tool 8 against the vehicle body 4).

A water supply passage is formed in the tool shaft 66 in the axial direction thereof, and the polishing liquid supplied from the water supply pipe 72 through the water supply passage is polished from a plurality of water inlets 74 located inside the polishing tool 8. Water is injected from the direction of the tip end surface 8a of the tool 8. Since the water injection port 74 is located near the inner surface of the polishing tool 8, the polishing liquid flows along the inner surface to the tip surface 8a due to the centrifugal force caused by the rotation of the polishing tool 8, whereby efficient water injection is performed. Becomes

Tip surface 8a rather than water inlet 74 inside polishing tool 8
On the side, a proximity sensor 76 for detecting the distance between the polishing tool 8 and the vehicle body 4 is provided.

FIG. 4 shows the polishing tool 10 of the other water research unit 18.
FIG. 4 is a cross-sectional view showing the tool head 78 in detail. The water research unit 18 is a water research unit shown in FIG.
On the other hand, the portion on the side closer to the support base 22 than the arm 24 has the same configuration.

As shown, the polishing tool 10 is rotatably supported at both ends by a tool head 78, and when a shaft 80 rotates by driving an induction servomotor (not shown), a bevel gear 82a, 82b and a spur gear train are formed. It is designed to rotate through 84.

The polishing tool 10 is made of the same material as the polishing tool 8, but has a plurality of corrugated grooves 10 on its outer peripheral surface in the circumferential direction.
a is formed, so that when the polishing tool 10 is brought into contact with the vehicle body 4, the polishing tool 10 adapts well to the surface shape of the vehicle body 4.
Also, by forming the groove 10a in a corrugated shape, the polishing tool 1
The polishing streaks due to 0 are hardly attached to the vehicle body 4.

In addition, both sides of the polishing tool 10 (perpendicular to the drawing)
A cover (not shown) is provided on the outside of the cover, and a proximity sensor (not shown)
76 (corresponding to 76).

FIG. 5 is a perspective view showing a feeding state of the vehicle body 4 in the water research process.

The bogie 6 on which the vehicle body 4 is mounted has a groove 88 formed on the floor.
It is connected via a towing rod 92 to a towing hook 90 that moves in the direction of the arrow F in the drawing, and is sent in the direction of the arrow F as the towing hook 90 moves.

A trolley position measuring device 94 is provided on the side of the trolley 6. This device 94 has an index belt 98 in which a pair of abutting pins 96 extending laterally to a position where it abuts on the front end surface of the bogie 6 is implanted at a position shifted by half a circle from each other, and the index belt 98 is wound around the index belt 98. One of the pulleys 100 is provided with a servomotor 102 having an output shaft connected thereto. Then, the servo motor 102 positions the contact pin 96 at a predetermined position, and makes the contact with the front end of the carriage 86 entering the RIKEN station. The contact pin 96 is pressed against the carriage 6 by a torque. As a result, the bogie 6 is towed by the towing hook 90 while being urged backward by the abutting pin 96. Therefore, even if the movement of the towing hook 90 fluctuates due to shaking or the like, the abutment pin 96 is moved. It can be kept in close contact with the carriage 6.

The servomotor 102 is provided with a pulse encoder 104, and the pulse encoder 104 measures the rotation of the servomotor 102 in accordance with the movement of the contact pin 96 by a pulse to detect the feed position of the bogie 6 with high accuracy. It is supposed to. When the carriage 6 enters the RIKEN station, the passage of the vehicle body 4 on the carriage 6 is detected by a photoelectric switch (not shown) after the carriage 6 contacts the pin 96. . Therefore, the positional relationship between the bogie 6 and the vehicle body 4 in the feed direction becomes clear, and therefore, the feed position of the vehicle body 4 itself is also detected by the pulse encoder 104 with high accuracy.

When the bogie 6 is sent to a position where the position detection is no longer required, the servomotor 102 feeds a predetermined amount of the index belt 98 to position the illustrated contact pin 98 below the bogie 6 and to move the other end. An abutment pin (not shown) is provided on the next bogie so as to wait at a predetermined position.

FIG. 6 shows the direct drive motor 26, the DC servo motors 32 and 44, the induction servo motor 50 and the bogie position measuring device 94 which are the driving sources of the respective RI systems 16 and 18 constituting the RI robots 12 and 14, respectively. Servomotor
Controls the operation of 102 and thus the body 4 of the polishing tools 8 and 10
FIG. 4 is a block diagram illustrating a configuration of a control unit that controls an abutting operation with respect to a position of the vehicle body 4 in a feed direction.

From the proximity sensor 76 and the potentiometer 70 provided in each of the water research units 16 and 18, a signal indicating the approach distance of the polishing tools 8 and 10 to the vehicle body 4 and the pressing of the polishing tools 8 and 10 to the vehicle body 4 are sent to the CPU 106. A signal indicating the magnitude of the pressure is input via the AD converter 108. Further, a signal indicating the feed position of the bogie 6 is input to the CPU 106 from the pulse encoder 104 of the bogie position measuring device 94. Then, the CPU 106
These input signals, teaching data stored in the memory 110 (this will be described later), and attitude data of the vehicle body 4 on the bogie 6 (this will also be described later)
A control signal is output to the servo drivers 114, 116, 118, 120 based on the direct drive motor 26,
The DC servo motors 32 and 44 and the induction servo motor 50 are driven to perform the water research work on the vehicle body 4. Further, the CPU 106 is a bogie position measuring device.
A control signal is output to the servo driver 122 to drive the servo motor 102 so that the contact pin 96 of 94 presses and releases the bogie 6.

Next, the operation of this embodiment will be described with reference to the flowcharts of FIGS. 7 to 13 and the graph of FIG.

As shown in FIG. 7, in the RIKEN work, predetermined teaching is performed in advance (S1), and interpolation data is created for the result (S2), and playback (S3) based on the data obtained thereby is performed. ).

Teaching (S1) at the RIKEN station
While sending the trolley 6 on which the car body 4 is mounted,
This is an operation for teaching the abutment operation of the polishing tools 8 and 10 to the vehicle body 4 with respect to 6 and 18, and the approach speed of the polishing tools 8 and 10 to the vehicle body 4 according to the feed position of the bogie 6;
The contact position, the contact angle, the pressing pressure, and the like with respect to are set in an optimal state, and the result is stored in the memory 110 as teaching data. This teaching is performed for both the case where the vehicle body 4 is placed close to the right of the bogie 6 and the case where it is mounted close to the left. This is to make it possible to easily correct the displacement of the vehicle body 4 during playback, as described later.

FIG. 8 is a flowchart showing the procedure of teaching (S1).

First, set the body on the trolley 6 with the body all the way to the right (A
1) Send the cart 6 (A2). The trolley 6 enters the RIKEN station, and the photoelectric switch is activated by the mounted body.
When it is turned on (A3), the difference between the position of the trolley 6 (detected by the trolley position measuring device 94 since the time before the photoelectric switch was turned on) and the position where the photoelectric switch was turned on is set as the trolley feed position. Yes (A4). Then, the carriage 6 is further fed (A5), and it is determined whether or not there is a step on the trajectory of the polishing tool abutting position of the vehicle body 4 (A6). After the hit data and the bogie feed position are stored in the memory 110 (A7), the contact positions, contact angles, pressing pressures of the polishing tools 8, 10 on the vehicle body 4, and the approach speed of the polishing tools 8, 10 to the vehicle body 4 are stored. Are set (A8), and these setting data and the carriage feed position are stored in the memory 11 (A9). The above setting is performed for a plurality of carriage feed positions. When the teaching is performed up to the rear end of the vehicle body 4 (A10), if the teaching is necessary again (for example, when the number of set data is considered to be still insufficient), the procedures of A1 to A10 are performed. If it is unnecessary (A11), the vehicle body 4 is set all the way to the left and set on the trolley 6, and teaching is performed in the steps A1 to A11 (A12).

Since the interpolation data creation (S2) in FIG. 7 is not necessarily performed at the positions at equal intervals with respect to the feed of the vehicle body 4 but is at random, the data obtained by the teaching is playback. (S3)
This is an operation to be performed smoothly.

FIG. 9 is a flowchart showing a procedure for creating interpolation data (S2).

First, the data about each point taken in by teaching is rearranged in the order of the carriage feed position (B1). Next, the teaching data obtained when the vehicle body 4 is moved to the full right and set on the trolley 6 for teaching is separated from the data obtained when the vehicle is moved to the left and moved to the full left, and each is connected by a smooth curve (B2). . Then, data is picked up from these curves at regular intervals of the carriage feed position, and stored in the memory 110 as interpolation data (B3).

In the playback (S3) in FIG. 7, the polishing tools 8, 10 of each of the RIKEN units 16, 18 are applied to the vehicle body 6 on the trolley 4, which is sent to the RIKEN station at a predetermined speed, based on the interpolation data. This is the operation of bringing the vehicle body 4 into contact with and driving it to polish.

FIG. 10 is a flowchart showing the procedure of playback (S3).

First, the carriage 6 on which the vehicle body 4 is mounted is sent (C1). Similarly, at the time of teaching (S1), when the cart 6 enters the RIKEN station and the photoelectric switch is turned ON by the mounted vehicle body 4 (C2), the position of the cart 6 and the photoelectric switch are changed.
Set the difference from the ON position as the bogie feed position (C
3). Then, the carriage 6 is further fed (C4), and an approaching operation of driving the polishing tools 8, 10 to the vehicle body 4 is performed based on the interpolation data set according to the feed position of the carriage 6 (C5).

This approach operation is performed by driving the direct drive motor 26 via the servo driver 114 in response to a control signal from the CPU 106 to rotate the arm 24 in the direction of arrow B. At the same time, the DC servo motors 32 and 44 are driven via the servo drivers 116 and 118 by the control signal from the CPU 106 to rotate the arm 24 in the direction of arrow C by a predetermined amount and to move the tool head 58 in the direction of arrow D. The polishing tools 8 and 10 are turned by a predetermined amount in the direction, and the polishing tools 8 and 10 face the contact surface of the vehicle body 4.

The approach speed of the arm 24 to the vehicle body 4 is controlled so as to be initially large and to decrease as the vehicle approaches the vehicle body 4. Then, when the polishing tools 8 and 10 approach just before contacting the vehicle body 4, each of the polishing tools 8, 10 The proximity switch is turned on based on a signal from the proximity sensor 76 attached to 10. The above approach operation is performed until the proximity switch is turned ON (C
6) After being turned on, the pressing pressure of the polishing tools 8, 10 against the vehicle body 4 is controlled (C7). This pressing pressure is controlled so as to be small when the entire surface of the polishing tools 8 and 10 does not come into contact with the vehicle body 4 as in the case where the surface of the vehicle body 4 is convex, and to maintain a constant value otherwise. Is made.

The above pressing pressure control is sequentially performed from the front end side of the vehicle body 4. However, when the polishing tool 8 located on the side surface of the vehicle body exceeds the fender portion (C8), a step position calculation described later is performed (C9), and thereafter, If the contact position of the polishing tool 8 reaches the rear end of the vehicle body 4 (C10), the water research unit 16 enters a standby state (C11). Otherwise, it is determined whether or not the polishing tool 8 has reached the step position of the vehicle body 4. Is performed (C12). In this step position, while it is necessary to temporarily separate the polishing tool 8 from the vehicle body 4,
It is desirable to resume polishing as soon as possible after the step position, in order not to generate an unpolished area. For this reason, the pressing pressure control is continued until the step position is reached (C13). However, when the step position is reached, the pressing pressure control is performed to control the position and speed of the polishing tool 8 (the contact position of the polishing tool 8 with the body 4 and (Control of the approach speed) (C14), so that the timing of switching to the next pressing pressure control can be accurately grasped.

The step position calculation in C9 of the above flowchart is
This is performed according to the flowchart shown in FIG.

First, a straight line for calculating the inclination of the vehicle body 4 in the horizontal plane is calculated based on the position data of the fender section (D1). That is, when the position of the vehicle body 4 is detected in the playback, the detected data is, as shown in FIG. 14, a curve of the interpolation data (shown by RMax) for the right alignment obtained from the teaching data and a left alignment. Case (indicated by LMax). Therefore, the position of the vehicle body 4 is detected at two locations before and after the fender portion having a surface shape relatively close to a straight line, and a straight line is obtained from the detected data using the least square method or the like. Next, the curves RMax and LMax are weighted and averaged by a straight line to obtain a curve M (D2). Then, on the curve M, data of the target position having a bit indicating that the vehicle body 4 has a step is stored in the memory 110 (D3).

By the above playback, the body 4 of the polishing tools 8 and 10
Can be performed according to the carriage feed position, so that the body 4 can be accurately polished even if the feed speed of the carriage 6 fluctuates. However, in the contact operation corresponding to only the carriage feed position, for example, when the carriage 6 stops, the same area of the vehicle body 4 is continuously ground by the polishing tools 8 and 10 for a long time. Therefore, the truck feed speed is calculated based on the truck feed position data, and control taking this truck feed speed into consideration (for example, control for setting the pressing pressure to zero when the truck 6 stops as described above, Alternatively, control for changing the pressing pressure according to the carriage feed speed may be performed.

In the above playback, if the polishing tool 8 wears, it is considered that the position and speed control of the polishing tool 8 may be hindered. Therefore, in this embodiment, the wear correction is performed as shown in the flowchart of FIG. You.

First, during playback, it is determined whether or not the polishing tool 8 has come to a position (for example, a fender portion) in parallel contact with the vehicle body 4 (E1). From 76, distance data (data on the distance between the polishing tool 8 and the vehicle body 4) and data on the pressing pressure from the potentiometer 70 are taken in (E2). Based on these data, M ₀ (= distance ÷ pressing pressure) and FL (=
k (constant) x average value of pressing pressure) is calculated (E3), and M ₀ +
It is determined whether the value of FL (target position) is equal to or less than a predetermined threshold (E4). If the threshold is exceeded, M ₀
The value of -M ₁ was added to the target position (M ₁ value of M ₀ calculated based on previous data) (E5), issues an alarm of the abrasive tool change if less than the threshold value (E6).

In the above playback, the horizontal displacement of the vehicle body 4 entering the RIKEN station with respect to the bogie 6 is corrected by the photoelectric switch ON or the step position calculation processing. Has not been corrected. For this reason, in this embodiment, the correction is performed based on the design value of the vehicle body cross-sectional shape and the measurement data at the station before the RIKEN station.

That is, as shown in the flowchart of FIG. 13, a curve of the cross-sectional shape of the vehicle body 4 is created at regular intervals in the front-rear direction based on a design drawing of the vehicle body 4 or the like (F1). Then, at the time of playback, the inclination of the vehicle body 4 is measured by an appropriate method at the preceding station (F2), and the curve is rotated and moved to conform to the vehicle body cross-sectional shape obtained from the measurement data (F3). Next, in each section,
A straight line is drawn from the center position of each of the polishing tools 8 and 10 in the pressing direction (that is, the direction parallel to the rotation surface of the arm 24), and the coordinates of the intersection with the above-mentioned rotated vehicle body cross-sectional shape curve are obtained (F4). The direction of the normal line of the curve at each coordinate thus obtained is obtained, and the data of the contact position and contact angle of the polishing tools 8 and 10 are corrected (F5).

As described above, by performing the wear correction of the polishing tool and the position correction of the vehicle body in the rolling direction, the water polishing work can be performed with higher accuracy.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of an automatic water research apparatus equipped with a water research robot according to the present invention, FIG. 2 is a view taken in the direction of arrow II in FIG. 1, and FIG. FIG. 4 is a cross-sectional view showing a polishing tool of another water research unit of the above embodiment, FIG. 5 is a perspective view showing a part of the above embodiment, and FIG. 6 is a sectional view of the above embodiment. 7 to 13 are flowcharts showing the operation of the above embodiment, and FIG. 14 is a graph showing the operation of the above embodiment. 2 ... automatic water research equipment, 4 ... body (work) 6 ... trolley, 8, 10 ... polishing tool 12, 14 ... water research robot, 16, 18 ... water research unit 20 ... gate, 22 …… Support base 24 …… Arm, 94 …… Bogie position detection device

Continuation of front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B24B 29/00 B24B 27/00

Claims (3)

(57) [Claims] An arm whose base end is supported by a support base makes a predetermined movement, whereby a polishing tool attached to a distal end of the arm is brought into contact with a work to be fed in a predetermined direction, so that the work is moved. A plurality of water research units configured to carry out the water research work on the work while feeding the work, wherein the support base of each of the water research units maintains a predetermined interval in a direction orthogonal to the work feed direction. And the arm is supported at the base end by the support base so as to be movable only in a plane perpendicular to the stacking direction of the support base. Wherein the robot is provided so as to be movable within a predetermined range with respect to the arm in a direction in which the support base is stacked. 2. The water according to claim 1, further comprising control means for controlling an abutting operation of said polishing tool on said workpiece in accordance with a position of said workpiece in a feed direction with respect to said polishing tool. Laboratory robot. 3. The workpiece has a step on its surface, and the control means controls a pressing pressure of the polishing tool against the workpiece until the polishing tool reaches a step position of the workpiece. 3. The water laboratory robot according to claim 2, wherein when the polishing tool reaches a step position, the polishing tool controls a contact position and an approach speed of the polishing tool with respect to the work.